cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

IF(NOT CMAKE_BUILD_TYPE)
    SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

# Compiler specific options for gcc
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall -O3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")

# SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native") 
# SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -march=native") 

# Check C++14 or C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX14)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
    add_definitions(-DCOMPILEDWITHC11)
    message(STATUS "Using flag -std=c++14.")
elseif(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
    add_definitions(-DCOMPILEDWITHC11)
    message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
    add_definitions(-DCOMPILEDWITHC0X)
    message(STATUS "Using flag -std=c++0x.")
else()
    message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV QUIET)
if(OpenCV_FOUND)
    if(OpenCV_VERSION_MAJOR VERSION_EQUAL 4) # 4.x
        add_definitions(-DOPENCV4)
    elseif(OpenCV_VERSION_MAJOR VERSION_EQUAL 2) # 2.x
        add_definitions(-DOPENCV2)
    endif()
else()
    message(FATAL_ERROR "OpenCV not found.")
endif()

# find_package(OpenCV 4 QUIET)
# if(OpenCV_FOUND)
#     add_definitions(-DOPENCV4)
# else()
#     find_package(OpenCV 3 QUIET)
#     if(NOT OpenCV_FOUND)
#         find_package(OpenCV 2.4.3 QUIET)
#         add_definitions(-DOPENCV2)
#         if(NOT OpenCV_FOUND)
#             message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
#         endif()
#     endif()
# endif()
message(STATUS "OpenCV Version: ${OpenCV_VERSION}.")

find_package(Eigen3 3.1.0 REQUIRED)
if(EIGEN3_FOUND)
    MESSAGE(STATUS "Eigen3 Version: ${EIGEN3_VERSION}")
    if(${EIGEN3_VERSION} VERSION_GREATER "3.3.0")
        list(APPEND CMAKE_INCLUDE_PATH "/usr/local/include")
        find_package (Eigen3 3.3 REQUIRED NO_MODULE)
        # use PacketAccessBit instead of AlignedBit
        add_definitions(-DEIGEN32)
    elseif(${EIGEN3_VERSION} VERSION_GREATER "3.2.0")
        # use PacketAccessBit instead of AlignedBit
        add_definitions(-DEIGEN32)
    endif()
endif()
find_package(Pangolin REQUIRED)
find_package(PCL 
    QUIET
    COMPONENTS common io filters visualization
    )
message(STATUS "PCL Version: ${PCL_VERSION}.")

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

include_directories(
    ${PROJECT_SOURCE_DIR}
    ${PROJECT_SOURCE_DIR}/include
    ${EIGEN3_INCLUDE_DIR}
    ${Pangolin_INCLUDE_DIRS}
    ${PCL_INCLUDE_DIRS}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED
    src/System.cc
    src/Tracking.cc
    src/LocalMapping.cc
    src/LoopClosing.cc
    src/ORBextractor.cc
    src/ORBmatcher.cc
    src/FrameDrawer.cc
    src/Converter.cc
    src/MapPoint.cc
    src/KeyFrame.cc
    src/Map.cc
    src/MapDrawer.cc
    src/Optimizer.cc
    src/PnPsolver.cc
    src/DenseMapping.cc
    src/Frame.cc
    src/KeyFrameDatabase.cc
    src/Sim3Solver.cc
    src/Initializer.cc
    src/Viewer.cc
)

target_link_libraries(${PROJECT_NAME}
    ${OpenCV_LIBS}
    ${EIGEN3_LIBS}
    ${Pangolin_LIBRARIES}
    ${PCL_LIBRARIES}
    ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
    ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
)

# Build examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})


set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

# Build tools
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Tools)
add_executable(bin_vocabulary Tools/bin_vocabulary.cc)
target_link_libraries(bin_vocabulary ${PROJECT_NAME})

# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Tools)
# add_executable(sor2 Tools/sor1.cpp)
# target_link_libraries(sor2 ${PCL_LIBRARIES})
# add_executable(sor1 Tools/sor1.cpp)
# target_link_libraries(sor1 ${PROJECT_NAME})
